00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROSCPP_INIT_H 00036 #define ROSCPP_INIT_H 00037 00038 #include "ros/forwards.h" 00039 #include "ros/spinner.h" 00040 00041 namespace ros 00042 { 00043 00044 namespace init_options 00045 { 00049 enum InitOption 00050 { 00055 NoSigintHandler = 1 << 0, 00058 AnonymousName = 1 << 1, 00062 NoRosout = 1 << 2, 00063 }; 00064 } 00065 typedef init_options::InitOption InitOption; 00066 00082 void init(int &argc, char **argv, const std::string& name, uint32_t options = 0); 00083 00092 void init(const M_string& remappings, const std::string& name, uint32_t options = 0); 00093 00102 void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0); 00103 00107 bool isInitialized(); 00111 bool isShuttingDown(); 00112 00123 void spin(); 00124 00137 void spin(Spinner& spinner); 00146 void spinOnce(); 00147 00151 void waitForShutdown(); 00152 00159 bool ok(); 00166 void shutdown(); 00167 00173 void requestShutdown(); 00174 00183 void start(); 00187 bool isStarted(); 00188 00195 CallbackQueue* getGlobalCallbackQueue(); 00196 00205 void removeROSArgs(int argc, const char* const* argv, V_string& args_out); 00206 00207 } 00208 00209 #endif